From 8dbf5b3a73c5ed2f570f6fef4fd920fdcca074a7 Mon Sep 17 00:00:00 2001
From: Banks Troutman <bankst@roswellrobotics.com>
Date: Tue, 24 Sep 2019 10:35:14 -0400
Subject: [PATCH] Potential fix for multi-camera on Windows

---
 .../settings/SettingsManager.java             | 39 +++++++++++++++++++
 .../chameleonvision/vision/camera/Camera.java | 20 ++++++++--
 2 files changed, 55 insertions(+), 4 deletions(-)

diff --git a/Main/src/main/java/com/chameleonvision/settings/SettingsManager.java b/Main/src/main/java/com/chameleonvision/settings/SettingsManager.java
index 76d6b28da..79b759405 100644
--- a/Main/src/main/java/com/chameleonvision/settings/SettingsManager.java
+++ b/Main/src/main/java/com/chameleonvision/settings/SettingsManager.java
@@ -37,6 +37,45 @@ public class SettingsManager {
 		}
 	}
 
+	public enum Platform {
+		WINDOWS_64("Windows x64"),
+		LINUX_64("Linux x64"),
+		LINUX_RASPBIAN("Linux Raspbian"),
+		LINUX_AARCH64("Linux ARM 64bit"),
+		MACOS_64("Mac OS x64"),
+		UNSUPPORTED("Unsupported Platform");
+
+		public final String value;
+
+		Platform(String value) {
+			this.value = value;
+		}
+	}
+
+	public static Platform getCurrentPlatform() {
+		var osName = System.getProperty("os.name");
+		var osArch = System.getProperty("os.arch");
+
+		if (osName.contains("Windows")) {
+			if (osArch.equals("amd64")) return Platform.WINDOWS_64;
+			return Platform.UNSUPPORTED;
+		}
+
+		if (osName.contains("Linux")) {
+			if (osArch.equals("amd64")) return Platform.LINUX_64;
+			if (osArch.contains("rasp")) return Platform.LINUX_RASPBIAN;
+			if (osArch.contains("aarch")) return Platform.LINUX_64;
+			return Platform.UNSUPPORTED;
+		}
+
+		if (osName.contains("Mac")) {
+			if (osArch.equals("amd64")) return Platform.MACOS_64;
+			return Platform.UNSUPPORTED;
+		}
+
+		return Platform.UNSUPPORTED;
+	}
+
 	private static void initGeneralSettings() {
 		FileHelper.CheckPath(SettingsPath);
 		try {
diff --git a/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java b/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
index e751dc703..27c44b884 100644
--- a/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
+++ b/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
@@ -1,5 +1,6 @@
 package com.chameleonvision.vision.camera;
 
+import com.chameleonvision.settings.SettingsManager;
 import com.chameleonvision.vision.Pipeline;
 import com.chameleonvision.web.ServerHandler;
 import edu.wpi.cscore.*;
@@ -16,6 +17,7 @@ public class Camera {
 	private static final int MINIMUM_FPS = 30;
 	private static final int MINIMUM_WIDTH = 320;
 	private static final int MINIMUM_HEIGHT = 240;
+	private static final int MAX_INIT_MS = 1500;
 
 	public final String name;
 	public final String path;
@@ -32,6 +34,7 @@ public class Camera {
 	private CamVideoMode camVideoMode;
 	private int currentPipelineIndex;
 	private HashMap<Integer, Pipeline> pipelines;
+	private long initTimeout;
 
 
 	public Camera(String cameraName) {
@@ -64,10 +67,19 @@ public class Camera {
 		this.pipelines = pipelines;
 
 		// set up video modes according to minimums
-        while(!UsbCam.isConnected())
-        {
-            System.out.println("notConnected");//TODO add a time sleep, can wait only so long before giving up
-        }
+		if (SettingsManager.getCurrentPlatform() == SettingsManager.Platform.WINDOWS_64 && !UsbCam.isConnected()) {
+			System.out.print("Waiting on camera... ");
+			initTimeout = System.nanoTime();
+			while(!UsbCam.isConnected())
+			{
+				//TODO add a time sleep, can wait only so long before giving up
+				if (((System.nanoTime() - initTimeout)  / 1e6 ) >= MAX_INIT_MS) {
+					break;
+				}
+			}
+			var initTimeMs = (System.nanoTime() - initTimeout) / 1e6;
+			System.out.printf("Camera initialized in %.2fms\n", initTimeMs);
+		}
 		availableVideoModes = Arrays.stream(UsbCam.enumerateVideoModes()).filter(v -> v.fps >= MINIMUM_FPS && v.width >= MINIMUM_WIDTH && v.height >= MINIMUM_HEIGHT).toArray(VideoMode[]::new);
 		if (videoModeIndex <= availableVideoModes.length - 1) {
 			setCamVideoMode(videoModeIndex, false);